为了实现四旋翼无人机对给定姿态的快速跟踪,基于Terminal滑模控制方法设计了一种四旋翼无人机的姿态控制器,在设计滑模面时引入非线性函数来保证跟踪误差在有限时间内收敛。考虑在线速度未知的情况下,通过设计高增益观测器来对无人机速度进行观测,并利用所观测的信号设计位置控制器。最后利用Lyapunov理论证明了系统的稳定性。仿真结果表明,四旋翼无人机在线速度不可测的情况下,仍可进行轨迹跟踪控制。 In order to realize the fast tracking of a given attitude for a quadrotor UAV, a attitude controller based on terminal sliding mode control is designed and a nonlinear function is introduced in the design of sliding mode to ensure that the tracking error is within Convergence within a limited time. Considering that the on-line speed is unknown, the UAV speed is observed by designing a high-gain observer and the position controller is designed using the observed signals. Finally, the stability of the system is proved by Lyapunov theory. The simulation results show that the quadrotor UAV can still track control under the condition of unmeasured speed.